Pressurized-fluid flight systems and methods of use thereof

ABSTRACT

A propulsion device, including a platform; a thrust assembly coupled to the platform, the thrust assembly including at least two nozzles configured to discharge a pressurized fluid therefrom that are movable with respect to the platform; a plurality of actuators, wherein each actuator is coupled to one of the at least two nozzles, wherein each actuator is configured to adjust an angular orientation of its respective nozzle with respect to the platform; a first sensor coupled to the platform to measure at least one of a pitch and roll of the platform; and a controller in communication with the first sensor and the plurality of actuators, wherein the controller is configured to adjust an operation of the actuators based at least in part on information from the first sensor to modify an angular orientation of the at least two nozzles.

CROSS-REFERENCE TO RELATED APPLICATION

This application is related to and claims priority to U.S. ProvisionalPatent Application Ser. No. 62/418,750, filed Nov. 7, 2016, entitled“PRESSURIZED-FLUID FLIGHT SYSTEMS AND METHODS OF USE THEREOF,” theentirety of which is incorporated herein by reference. This applicationalso claims priority to France Patent Application No. 1755013, filed onJun. 6, 2017, the entirety of which is incorporated herein by reference.

STATEMENT REGARDING. FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

n/a

FIELD OF THE INVENTION

The present disclosure relates to pressurized-fluid flight systems andmethods of use thereof.

BACKGROUND OF THE INVENTION

A number of water-propelled, personal flight devices have recentlybecome available, such as those devices disclosed in U.S. Pat. Nos.8,336,805 and 7,258,301, among others. Operation of such devices mayrequire balancing the weight and resulting forces of a passenger's bodyabout a platform or seat, and/or balancing and operating controls of theoutput nozzles to provide stable flights. Such balancing may requirehigh levels of dexterity and fine-motor control. In addition, should thepassenger tilt or misdirect the nozzles and start to lose balance, itmay be difficult for some passengers to counteract the tilting moment asthe tilt angle increases, resulting in unwanted falling These combinedrequirements and circumstances can be physically taxing during use andintimidating to a beginner learning to use the devices. The presentdisclosure provides examples of personal propulsion systems, devices,ands methods of use thereof having improved operability and use.

SUMMARY OF THE INVENTION

The examples disclosed herein make it possible to meet the vast majoritydisadvantages raised by other hydroflight devices. The many benefitsprovided by a device according to the present disclosure include—ease ofuse and offer a wide variety of applications and trajectories;—theability to take flight without strenuous exertion of physicalabilities;—selectable control of a nominal altitude, with the userhaving only to orient oneself horizontally;—devices providing a varietyof movements that can provide personal flight experiences with a smalllearning curve, safely and without fatigue.

The present disclosure provides a propulsion device, including aplatform arranged to support a passenger; a thrust group comprising amain nozzle expelling fluid from a fluid outlet in a given direction,said main nozzle being oriented substantially from the bow to the sternof the propulsion device so that said direction of expulsion of fluidfalls within a first median plane of the propulsion device, said firstmedian plane separating a port half of a starboard half of thepropulsion device; and means to collect and distribute a pressurizedfluid to said thrust group, said means being supplied with fluidpressurized by a feed duct, and cooperating with the platform through anembedded link.

To control the attitude and altitude of a longitudinal axis plane ofsaid propulsion device and to provide automatic piloting assistance toits user, the thrust group may include two cooperating secondary nozzlesin fluid communication with said means for collecting and distributing apressurized fluid, that receives a pressurized fluid, said secondarynozzles being movably mounted along a transverse axis of said propulsiondevice, said axis being perpendicular to said first median plane, todeliver said pressurized fluid according to respective fluid directionsin second median anus that are distinct and parallel to the first middleplane of the propulsion device within which the direction of fluid ofthe main nozzle disperses fluid.

In addition, said main nozzle of the thrust group may be positionedsubstantially at the stem of the propulsion device and the secondarynozzles may be positioned substantially at the bow of said propulsiondevice,

The propulsion device may include a means to collect and dispense apressurized fluid that is in fluid communication with said supplyconduit through a pivoting connection at the proximal portion of saidmeans

According to one example, the platform may comprise a rigid frame,buoyancy elements, one or more fairings or outer body components, and aseat on which one or more passengers can sit.

To facilitate the boarding of a passenger on a propulsion deviceaccording to the present disclosure and to promote ease of takeoff, thebuoyancy elements may advantageously be arranged to partially maintainthe bow above the water when the propulsion device is positioned on thesurface of a body of water/fluid and when said passenger occupies asitting position on said seat.

An example of a propulsion device according to the present disclosuremay include an actuator associated with each secondary nozzle to driveor cause rotation of the nozzle automatically and/or selectively duringoperation of the propulsion device. Such rotation may be along atransverse axis of the propulsion device with respect to the directionof fluid expulsion from the secondary nozzle in one of said secondmedian planes.

The propulsion device may include electrical controls that controland/or send signals to the actuators associated with the secondarynozzles. According to one example, said propulsion device may furtherinclude a processing unit to manipulate and/or drive the electricalcontrols to adjust and/or maintain an operation or position of theactuators.

To allow a user to change the trajectory of a propulsion device, thepropulsion device may include a man-machine or user interface designedto translate a gesture or input of said user. For example, an input tochange the direction or angular position of the propulsion device in thelongitudinal plane of the propulsion device and/or around a longitudinalaxis of said propulsion device. In addition, and/or alternatively, aninstruction input may result in an altitude change.

In another example, the processing unit may translate a cruisingattitude and altitude reference point of a longitudinal plane of thepropulsion device. In this case, such a propulsion device may includefirst and second sensors for measuring the respective angular positionsof the secondary nozzles to an angular position reference; a thirdsensor delivering a measurement of the roll and/or pitch experienced bythe propulsion device in said longitudinal plane respectively around alongitudinal axis and a transverse axis about said propulsion device.

To increase the performance of a propulsion device according to thepresent disclosure, and in particular by preventing any unnecessary lossof thrust in the distribution of the pressurized fluid, at least part ofthe means for collecting and distributing said pressurized fluid as wellas the main thrust group nozzle may include an oblong section.

In another aspect, the present disclosure provides a propulsion systemcomprising a propulsion device as explained herein and cooperating witha remote pressurization station, said station supplying pressurizedfluid to said propulsion device via the supply duct. To reduceacquisition and maintenance of such a system, the remote pressurizationstation may advantageously consist of a nautical vehicle or personalwatercraft with a hull, means of propulsion including the capacity topressurize an ingested fluid with an impeller or other fluid-ingestingmechanism to draw fluid into an inlet and expelling said fluid underpressure from a fluid outlet at the back said vehicle/watercraft

In another aspect, the present disclosure provides a method of pilotingthe secondary nozzles of a propulsion device. Such method providesautomatic piloting assistance to any novice or experienced user. Suchprocess may be implemented by the processing unit of a propulsiondevice, and may include a step of generating a signal or command tochange the relative positions of said secondary nozzles to provide achange of direction, attitude, altitude, pitch, and/or roll of thepropulsion device via the actuators The method may include measuring theroll of said propulsion device; generating a signal or command to modifyan average position of said secondary nozzles from a setpoint to changean altitude of said propulsion device; measuring a pitch of saidpropulsion device; and generating a signal or command to cause adifference in relative positions of secondary nozzles. In one example,such a process may include implementation of a PID controller tocooperatively manipulate the position and thrust vectors of the nozzlesthrough high frequency feedback of the actual position and angularorientation of the propulsion device.

The present disclosure further advantageously provides a personalpropulsion device, comprising a platform configured to support at leastone passenger; a first fluid outlet coupled to the platform; a firstfluid conduit in fluid communication with the first fluid outlet; and apersonal watercraft having first and second fluid discharge ports,wherein the first fluid discharge port is in fluid communication withthe first fluid conduit, and the second fluid discharge port isconfigured to discharge pressurized fluid to move the personalwatercraft. The first fluid outlet may be configured to expel thepressurized fluid to elevate the platform. The delivery of pressurizedfluid to the first fluid outlet ma be selectively adjustable. The devicemay include a fluid control valve coupled to the first fluid outletand/or a fluid control valve coupled to the first fluid discharge port.The first fluid conduit may be an elongated, flexible hose. The devicemay include a second fluid outlet coupled to the platform, and a secondfluid conduit in fluid communication with the second fluid outlet, wherethe first fluid discharge port is in fluid communication with the secondfluid conduit. The second fluid conduit may be an elongated, flexiblehose. The first fluid conduit may be movable about the platform, and thedevice may include a position assessment element configured to measureat least one of an angle and a distance between the platform and thefirst fluid conduit. The position assessment element may include atleast one of an angular position sensor, a rotary encoder, an opticalsensor, and an impedance sensor. The device may be configured to adjustdelivery of pressurized fluid to the first fluid outlet based uponinformation provided and/or obtained by the position assessment element.The device may include an altitude sensor coupled to the platform, andthe device may be configured to adjust delivery of pressurized fluid tothe first fluid outlet based upon information provided by the altitudesensor. The platform may be configured to support the at least onepassenger in a seated position, and/or the personal watercraft may beconfigured to transport one or more passengers thereon.

A personal propulsion device is provided, including a platformconfigured to support at least one passenger in a seated position; afirst fluid outlet coupled to the platform; a second fluid outletcoupled to the platform; and an elongated, flexible fluid conduit influid communication with the first and second fluid outlets to deliverpressurized fluid thereto, wherein delivery of pressurized fluid to thefirst fluid outlet is adjustable independently of delivery ofpressurized fluid to the second fluid outlet, and wherein the first andsecond fluid outlets are configured to expel the pressurized fluid todirectly elevate the platform to achieve flight. The device may includefluid control valves coupled to each of the first and second fluidoutlets. The device may include a personal watercraft having first andsecond fluid discharge ports, where the first fluid discharge port is influid communication with the fluid conduit, and the second fluiddischarge port is configured to discharge pressurized fluid to move thepersonal watercraft.

A personal propulsion system is provided, including a platformconfigured to support at least one passenger in a seated position; afirst fluid outlet coupled to an underside of the platform; a secondfluid outlet coupled to the underside of the platform; a first flexiblefluid conduit in fluid communication with the first fluid outlet asecond flexible fluid conduit in fluid communication with the secondfluid outlet; and a personal watercraft having first and second fluiddischarge ports, where the first fluid discharge port is in fluidcommunication with the first and second fluid conduits to deliverpressurized fluid to the first and second fluid outlets, where deliveryof pressurized fluid to the first fluid outlet is adjustableindependently of delivery of pressurized fluid to the second fluidoutlet, where the first and second fluid outlets are configured to expelpressurized fluid to directly elevate the platform to achieve flight,and where the second fluid discharge port is configured to dischargepressurized fluid to move the personal watercraft. At least one of thefirst and second fluid conduits may be movable about the platform, andthe system may include a position assessment element configured tomeasure at least one of an angle and a distance between the platform andthe at least one of the first and second fluid conduit

A method of operating a personal propulsion device is provided,including coupling a personal watercraft to a personal propulsion devicehaving a platform configured to support a passenger, wherein theplatform is coupled to one or more fluid outlets, and wherein thepersonal watercraft has first and second fluid discharge ports;delivering a pressurized fluid from the first fluid discharge port tothe one or more fluid outlets such that the fluid outlets discharge thepressurized fluid to directly elevate the platform; and discharging,pressurized fluid from the second fluid discharge port to move thepersonal watercraft. The method may include moving the personalwatercraft independently of the personal propulsion device. The methodmay include adjusting the delivery of the pressurized fluid from thefirst fluid discharge port to the one or more fluid outlets to controlan elevation of the personal propulsion device. Adjusting the deliveryof pressurized fluid may include adjusting an operation of the personalwatercraft from the personal propulsion device. The method may includeadjusting the discharge of the pressurized fluid from the second fluiddischarge port to adjust a speed of the personal watercraft. Thepressurized fluid may be delivered from the first fluid discharge portto the one or more fluid outlets through at least one flexible hose. Themethod may include pulling the personal propulsion device by theflexible hose with the personal watercraft. The platform may beconfigured to support the at least one passenger in a seated positionand/or the personal watercraft is configured to transport one or morepassengers thereon.

A method of operating a personal propulsion device is disclosed,including coupling a personal watercraft to a personal propulsiondevice, the personal propulsion device including a platform configuredto support a passenger, and first and second fluid outlets coupled tothe platform; delivering a pressurized fluid from a first fluiddischarge port of the personal watercraft to the first and second fluidoutlets such that the first and second fluid outlets expel thepressurized fluid to directly elevate the platform for flight, andadjusting delivery of the pressurized fluid to the first fluid outletindependently of the delivery of pressurized fluid to the second fluidoutlet to affect a position of the platform. Adjusting delivery of thepressurized fluid to the first fluid outlet may include operating avalve coupled to the first fluid outlet. Adjusting delivery of thepressurized fluid to the first fluid outlet may include operating avalve coupled to the first fluid discharge port. Adjusting delivery ofthe pressurized fluid to the first fluid outlet may include modifyingthe delivery of pressurized fluid through a first flexible fluid conduitcoupled to the first fluid outlet, while substantially maintaining thedelivery of pressurized fluid through a second flexible fluid conduitcoupled to the second fluid outlet. The method may include dischargingpressurized fluid from a second fluid discharge port of the personalwatercraft to move the personal watercraft within a bad of water. Themethod may include pulling the personal propulsion device with thepersonal watercraft and/or moving the personal watercraft independentlyof the personal propulsion device.

A method of operating a personal propulsion device is disclosed,including coupling a personal watercraft to a personal propulsion devicethrough first and second flexible fluid conduits, wherein the personalpropulsion device includes a platform configured to support a passenger,and first and second fluid outlets coupled to the platform; delivering apressurized fluid from the personal watercraft through the firstflexible fluid conduit to the first fluid outlet; delivering apressurized fluid from the personal watercraft through the secondflexible fluid conduit to the second fluid outlet, wherein the first andsecond fluid outlets expel the pressurized fluid to directly elevate theplatform for flight; adjusting delivery of the pressurized fluid to thefirst fluid outlet independently of the delivery of pressurized fluid tothe second fluid outlet to affect a position of the platform, anddischarging pressurized fluid from a first fluid discharge port of thepersonal watercraft to move the personal watercraft within a body ofwater such that the personal watercraft pulls the personal propulsiondevice by the first and second flexible fluid conduits. Adjustingdelivery of the pressurized fluid to the first fluid outlet may beperformed by one or more controls coupled to the platform and/oroperating a valve proximate to a second fluid discharge port of thepersonal watercraft. Adjusting delivery of the pressurized fluid to thefirst fluid outlet may include operating a valve proximate to the firstfluid outlet.

A method of operating a personal propulsion device is provided,including coupling a fluid delivery conduit to a personal propulsiondevice, wherein the fluid delivery conduit is movable with respect tothe personal propulsion device, and wherein the personal propulsiondevice includes a platform configured to support a passenger, and one ormore fluid outlets; delivering a pressurized fluid from the fluiddeliver conduit to the one or more fluid outlets of the personalpropulsion device such that the one or more fluid outlets discharge thepressurized fluid to directly elevate the platform; measuring at leastone of an angle and a distance between a portion of the platform and aportion of the fluid delivery conduit; and adjusting the delivery ofpressurized fluid based at least in part on the measurement. The fluiddelivery conduit may be an elongated, flexible hose. Measuring at leastone of an angle and distance may be performed at least in part by atleast one of an angular position sensor, a rotary encoder, an opticalsensor, and an impedance sensor. Delivering pressurized fluid mayinclude delivering pressurized fluid from a personal watercraft to thefluid delivery conduit. Adjusting the delivery of pressurized fluid mayinclude adjusting an operation of the personal watercraft from thepersonal propulsion device. Adjusting delivery of the pressurized fluidmay include operating a valve located proximate to a fluid dischargeport of the personal watercraft. The method may include dischargingpressurized fluid from a fluid discharge port of the personal watercraftto move the personal watercraft within a body of water. The method mayinclude moving the personal watercraft independently of the personalpropulsion device and/or pulling the personal propulsion device by thefluid delivery conduit with the personal watercraft. Adjusting deliveryof the pressurized fluid to the first fluid outlet may include operatinga valve coupled to the or more fluid outlets, The platform may beconfigured to support the at least one passenger in a seated positionand/or the personal watercraft may be configured to transport one ormore passengers thereon.

A method of operating a personal propulsion device is provided,including coupling first and second fluid conduits to a personalpropulsion device, the personal propulsion device including a platformconfigured to support a passenger, and first and second fluid outletscoupled to the platform delivering a pressurized fluid from the firstand second fluid conduits to the first and second fluid outlets suchthat the first and second fluid outlets expel the pressurized fluid todirectly elevate the platform for flight; and measuring at least one ofan angle and a distance between a portion of the platform and a portionof the first fluid conduit; and adjusting the delivery of pressurizedfluid to the first fluid outlet based at least in part on themeasurement. Adjusting delivery of the pressurized fluid to the firstfluid outlet may be performed independently of the delivery ofpressurized fluid to the second fluid outlet. Adjusting delivery of thepressurized fluid to the first fluid outlet may be performed to affectat least one of a position and height of the platform. Deliveringpressurized fluid may include delivering pressurized fluid from apersonal watercraft to the fluid delivery conduit, and the method mayinclude discharging pressurized fluid from a fluid discharge port of thepersonal watercraft to move the personal watercraft within a body ofwater.

A method of operating a personal propulsion device is provided,including coupling a personal watercraft to a personal propulsion devicethrough first and second flexible fluid conduits, wherein the personalpropulsion device includes a platform configured to support a passenger,and first and second fluid outlets coupled to the platform; delivering apressurized fluid from the personal watercraft through the firstflexible fluid conduit to the first fluid outlet; delivering apressurized fluid from the personal watercraft through the secondflexible fluid conduit to the second fluid outlet, wherein the first andsecond fluid outlets expel the pressurized fluid to directly elevate theplatform for flight, measuring at least one of an angle and a distancebetween a portion of the platform and a portion of at least one of thefirst and second fluid conduits; and adjusting the delivery ofpressurized fluid to at least one of the first and second fluid outletsbased at least in part on the measurement to affect a position of theplatform; and discharging pressurized fluid from a first fluid dischargeport of the personal watercraft to move the personal watercraft within abody of water such that the personal watercraft pulls the personalpropulsion device by the first and second flexible fluid conduits.Adjusting delivery of the pressurized fluid to the first fluid outletmay be performed by one or more controls coupled to the platform, mayinclude operating a valve proximate to a second fluid discharge port ofthe personal watercraft, and/or may include operating a valve proximateto at least one of the first and second fluid outlets.

A personal propulsion device is disclosed, including a platformconfigured to support at least one passenger; a first fluid outletcoupled to the platform, wherein the first fluid outlet is movablypositionable along a length of the platform, and wherein the first fluidoutlet is configured to expel pressurized fluid to elevate the platform;and a first fluid conduit in fluid communication with the first fluidoutlet. The first fluid outlet may be slidably engaged to a trackattached to the platform, The device may include at least one of apneumatic actuator, hydraulic actuator, and electric actuator coupled tothe first fluid outlet and operable to move the first fluid outlet. Thedevice may include at least one of an accelerometer, altimeter, and tiltsensor coupled to the platform, and/or an actuator configured to movethe first fluid outlet based at least in part on a signal generated bythe at least one of an accelerometer, altimeter, and tilt sensor. Thedevice may include a pressurized fluid source coupled to the first fluidconduit, and the pressurized fluid source may include a personalwatercraft The personal watercraft may include first and second fluiddischarge ports, where the first fluid discharge port is in fluidcommunication with the first fluid conduit, and the second fluiddischarge port is configured to discharge pressurized fluid to move thepersonal watercraft. The device may include a fluid control valvecoupled to the first fluid discharge port. The platform may beconfigured to support the at least one passenger in a seated position,and the personal watercraft may be configured to transport one or morepassengers thereon. An amount of pressurized fluid expelled from thefirst fluid outlet may be selectively adjustable. The device may includea fluid control valve coupled to the first fluid outlet. The first fluidconduit may include an elongated, flexible hose. The device may includea second fluid outlet coupled to the platform, where the second fluidoutlet is movably positionable along a length of the platform, and wherethe second fluid outlet is configured to expel pressurized fluid toelevate the platform. The device my include a second fluid conduit influid communication with the second fluid outlet.

A personal propulsion device is provided, including a platformconfigured to support at least one passenger in a seated position; afirst fluid outlet coupled to the platform; a second fluid outletcoupled to the platform, wherein first and second fluid outlets aremovably positionable along a length of the platform; at least one of anaccelerometer, altimeter, and tilt sensor coupled to the platform; anactuator configured to move the first fluid outlet based at least inpart on a signal generated by the at least one of an accelerometer,altimeter, and tilt sensor; an elongated, flexible fluid conduit influid communication with the first and second fluid outlets to deliverpressurized fluid thereto, wherein the first and second fluid outletsare configured to expel the pressurized fluid to directly elevate theplatform to achieve flight, and a pressurized fluid source coupled tothe flexible fluid conduit. The device may include fluid control valvescoupled to each of the first and second fluid outlets. The pressurizedfluid source may include a personal watercraft. The personal watercraftmay include first and second fluid discharge ports, where the firstfluid discharge port is in fluid communication with the first fluidconduit, and the second fluid discharge port is configured to dischargepressurized fluid to move the personal watercraft. The platform may beconfigured to support the at least one passenger in a seated position,and/or the personal watercraft may be configured to transport one ormore passengers thereon.

A method of operating a personal propulsion device is provided,including coupling a fluid delivery conduit to a personal propulsiondevice having a platform configured to support a passenger, and one ormore fluid outlets; delivering a pressurized fluid from the fluiddelivery conduit to the one or more fluid outlets of the personalpropulsion device such that the one or more fluid outlets discharge thepressurized fluid to directly elevate the platform; measuring at leastone of a pitch, yaw, or roll movement of the platform and moving aposition of the one or more fluid outlets along a length of the platformbased at least in part on the measurement. The method may includeadjusting the delivery of pressurized fluid based at least in part onthe measurement. Delivering pressurized fluid may include deliveringpressurized fluid from a personal watercraft to the fluid deliveryconduit. The method may include discharging pressurized fluid from afluid discharge port of the personal watercraft to move the personalwatercraft within a body of water. The method may include moving thepersonal watercraft independently of the personal propulsion deviceand/or pulling the personal propulsion device by the fluid deliveryconduit with the personal watercraft. The personal watercraft may beconfigured to transport one or more passengers thereon. The fluiddelivery conduit may include an elongated, flexible hose. The platformmay be configured to support a passenger in a seated position.

A method of operating a personal propulsion device is provided,including coupling a fluid delivery conduit to a personal propulsiondevice having a platform configured to support a passenger, and one ormore fluid outlets; delivering a pressurized fluid from the fluiddelivery conduit to the one or more fluid outlets of the personalpropulsion device such that the one or more fluid outlets discharge thepressurized fluid to directly elevate the platform; measuring at leastone of an angle and a distance between a portion of the platform and aportion of the fluid delivery conduit; and moving a position of the oneor more fluid outlets along a length of the platform based at least inpart on the measurement. Measuring at least one of an angle and distancemay be performed at least part by at least one of an angular positionsensor, a rotary encoder, an optical sensor, and an impedance sensor.The method may include adjusting the delivery of pressurized fluid basedat least in part on the measurement. Adjusting delivery of thepressurized fluid may include operating a valve located proximate to theone or more fluid outlets. Delivering pressurized fluid may includedelivering pressurized fluid from a personal watercraft to the fluiddelivery conduit, the method further including discharging pressurizedfluid from a fluid discharge port of the personal watercraft to move thepersonal watercraft within a body of water and/or pulling the personalpropulsion device by the fluid delivery conduit with the personalwatercraft.

A method of operating a personal propulsion device is disclosed,including coupling first and second fluid conduits to a personalpropulsion device, the personal propulsion device including a platformconfigured to support a passenger, and first and second fluid outletscoupled to the platform; delivering a pressurized fluid from the firstand second fluid conduits to the first and second fluid outlets suchthat the first and second fluid outlets expel the pressurized fluid todirectly elevate the platform for flight; measuring at least one of anangle and a distance between a portion of the platform and a portion ofthe first fluid conduit; and moving a position of the first and secondfluid outlets along the platform based at least in part on themeasurement. The method may include adjusting the delivery ofpressurized fluid based at least in part on the measurement. Adjustingdelivery of the pressurized fluid may include adjusting delivery ofpressurized fluid to the first fluid outlet independently of thedelivery of pressurized fluid to the second fluid outlet. Deliveringpressurized fluid may include delivering pressurized fluid from apersonal watercraft to the first and second fluid conduits. The methodmay include discharging pressurized fluid from a fluid discharge port ofthe personal watercraft to move the personal watercraft within a body ofwater.

A propulsion device is also provided, including a platform arranged toseat a passenger; a thrust assembly coupled to the platform, the thrustassembly including at least two nozzles configured to discharge apressurized fluid therefrom, wherein the at least two nozzles aremovable with respect to the platform; a plurality of actuators, whereineach actuator is coupled to one of the at least two nozzles, whereineach actuator is configured to adjust an angular orientation of itsrespective nozzle with respect to the platform; a first sensor coupledto the platform to measure at least one of a pitch and roll of theplatform; and a controller in communication with the first sensor andthe plurality of actuators, wherein the controller is configured toadjust an operation of the actuators based at least in part oninformation from the first sensor to modify an angular orientation ofthe at least two nozzles. The device may include a remote pressurizationstation supplying pressurized fluid to the thrust assembly, where theremote pressurization station may be coupled to the assembly by aflexible supply conduit and/or the remote pressurization station may bea personal watercraft. The at least two nozzles may be respectivelypositioned at port and starboard positions of the platform. The devicemay include a sensor configured to measure a pressure of a pressurizedfluid flowing through the thrust assembly, where the second sensor is incommunication with the controller, and the controller may be configuredto adjust an operation of the actuators based at least in part oninformation from the second sensor. The device may include a pluralityof sensors, where each of the plurality of sensors is configured tomeasure an angular position of one of the at least two nozzles, andwhere the plurality of sensors is in communication with the controller,and the controller may be configured to adjust an operation of theactuators based at least in part on information from the plurality ofsensors. The device may include a user interface coupled to the platformthat is configured to receive input from a user comprising at least oneof a change of direction input and a change of altitude input, and wherethe controller is in communication with the user interface. Thecontroller may be configured to adjust an operation of the actuatorsbased at least in part on information from the user interface. Thedevice may include a sensor coupled to the platform configured tomeasure an altitude of the platform, wherein the sensor is incommunication with the controller, and wherein the controller isconfigured to adjust an operation of the actuators based at least inpart on information from the sensor. The controller may implement a PIDcalculation to adjust an operation of the actuators. The at least twonozzles may be movable in a plane that is substantially parallel to alongitudinal axis of the platform extending from a stern to a bow of theplatform.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the present disclosure, and theattendant advantages and features thereof, will be more readilyunderstood by reference to the following detailed description whenconsidered in conjunction with the accompanying drawings wherein:

FIG. 1 illustrates a perspective view of the framework of a non-limitingexample of a propulsion device according to the present disclosure;

FIGS. 2 and 2A respectively describe a side view and partial enlargementof the framework of a non-limiting example of a propulsion deviceaccording to the present disclosure;

FIGS. 3 and 4 respectively describe front and back views of the frame ofa non-limiting example of a propulsion device according to the presentdisclosure;

FIGS. 5 and 6 show perspective views of a non-limiting example of apropulsion device according to the present disclosure;

FIG. 7 illustrates a non-limiting example of a propulsion devicecarrying two passengers according to the present disclosure;

FIG. 8 illustrates a flowchart of a non-limiting example of implementinga method of piloting secondary nozzles of a propulsion device accordingto the present disclosure;

FIG. 9 is an illustration of an example of a pressurized-fluid flightsystem constructed in accordance with the principles of the presentdisclosure;

FIG. 10 is an illustration of another example of a pressurized-fluidflight system constructed in accordance with the principles of thepresent disclosure;

FIG. 11 is an illustration of an example of a pressurized fluid sourceconstructed in accordance with the principles of the present disclosure;

FIG. 12 is an illustration of an example of a fluid outlet configurationfor a pressurized-fluid flight system constructed in accordance with theprinciples of the present disclosure;

FIG. 13 is another illustration of a fluid outlet configuration for apressurized-fluid flight system constructed in accordance with theprinciples of the present disclosure;

FIG. 14 is an illustration of an example of a fluid outlet actuatormechanism for a pressurized-fluid flight system constructed inaccordance with the principles of the present disclosure;

FIG. 15 is an illustration of another example of a fluid outlet actuatormechanism for a pressurized-fluid flight system constructed inaccordance with the principles of the present disclosure;

FIG. 16 is an illustration of another example of a fluid outlet actuatormechanism for a pressurized-fluid flight system constructed inaccordance with the principles of the present disclosure; and

FIG. 17 is an illustration of an example of a position assessmentfeature of a pressurized-fluid flight system constructed in accordancewith the principles of the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

The present disclosure provides examples of personal propulsion systems,devices, and methods of use thereof having improved operability and use

According to an example of a propulsion device according to theinvention, described in connection with FIGS. 1 to 7, such a device 30has a main body in the form of a platform 31 which only a frame isillustrated on FIGS. to 4. Said armature cooperates with a fairing 31H,as illustrated by way of example in FIGS. 5 to 7. Depending on the sizeof the platform 31 and the power of the remote pressurization stationsupplying pressurized fluid to said propulsion device 30, (said stationomitted for simplicity in FIGS. 2-7, but represented in FIG. 8), thedisclosed devices and systems provide that several passengers U1, U2 canpossibly simultaneously ride and/or fly on said device 30. Such a deviceconfiguration is illustrated as a non-limiting example in FIG. 7.

Such a remote pressurization station, referenced 40 in FIG. 8, can be adedicated device or an apparatus whose original main function differsfrom supplying a fluid under pressure to a propulsion device. Forexample, the disclosure provides that a land-based or nautical-basedfire-rescue vehicle can be operated as a remote pressurization stationif it has a capacity of sufficient fluid pressurization. The devicesdisclosed herein may alternatively take advantage of the natural fluidpressurization function of a personal watercraft, such as, for example,the RUNABOUT MZR 2011 edition provided by the manufacturer ZAPATARACING. Such a vehicle 40 has a hull and houses propulsion means thatimplements fluid pressurization by spinning an impeller, with said fluidbeing ingested from an entrance under the hull. Said fluid is thuspressurized and expelled from a fluid outlet located at the rear or stemof the vehicle.

Such a fluid outlet presents itself typically in the form of adirectional cone operated to modify the trajectory of the watercraft,The propulsion means/impeller is driven generally by means of acombustion engine. In order to implement the use of the watercraft asremote pressurization station 40, a flange can be applied on the fluidoutlet and then connected to an end of a supply duct 2 to route thepressurized fluid expelled from the fluid outlet of the watercraft. Thesupply duct 2 is connected to the other end 34C, using a tip 2 a meansto deliver the pressurized fluid to a propulsion device 30 according tothe disclosure as set forth herein.

According to FIG. 1, the platform 31 of such propulsion device 30consists of a tubular structure having a plurality of tubes 31F and/orbeams 31E, which may be advantageously hollow to reduce the weight. Therole of said structure 31 is to provide a skeleton or frame of the mainbody of the device 30. The material or materials usable to constitutesuch a structure 31 can be selected from aluminum, a stainless alloy, orcarbon fibers or other suitable polymers, that is to say, moregenerally, any material with of the functional characteristics providingdecreased weight, robustness/rigidity, and chemical neutrality (e.g.,causing no chemical reaction when in contact with a liquid medium). Asindicated in FIGS. 1 and 2, such a tubular framework 31F may comprise orcooperate with a beam or more generally a rigid main element 31E, whichmay be integral and/or cooperative with all or part of the means 34D todispense a compressed fluid from inlet fluid 34C, located at the stern31S of the propulsion device 30, to multiple secondary and lateralnozzles 33A and 33B, located in turn at the bow 31P of said propulsiondevice 30.

The tubular structure 31F can thus be coupled to/and or compriseportions of said main beam 31E at the stern 31S of the propulsion device30, with a bracket 31PS thus bearing on said beam 31E, or embedded init, as shown in FIG. 1. At the bow 31P, the tubular structure 31Fcooperates with a second bracket 31PP, optionally comprising one orseveral integral parts to couple the components, as shown in FIGS. 1 and3. Such mechanical links, respectively at the stern 31S and at the bow31P, may consist of bindings by screwing or bolting, or even by welding.

The propulsion device 30 may be defined or referenced relative to planesand/or axes, as described. FIG. 1. Thus, in the rest of the description,the following terms are used:

“median plane” PM, PMA or PMB: any plane normal to the propulsion device30, separating a port half from a starboard half of the device 30, saidhalves not being necessarily equal;“transverse plane” means any plane normal to a median plane, separatingthe propulsion device 30 in two halves, one having the bow 31P saiddevice 30 and the other one comprising the stern 31S of the latter, saidhalves not necessarily equal;“longitudinal plane” means any plane normal to the transverse and medianplanes, said longitudinal plane separating an upper half and a lowerhalf of said device 30, said halves not necessarily being equal;“transverse axis” AT: any axis belonging to both a transversal plane anda longitudinal plane of the propulsion device 30;“longitudinal axis” G: any axis belonging both to a median plane and alongitudinal plane of the propulsion device 30;“central axis” AM: any axis belonging to a median plane and a transverseplane of the propulsion device 30.

The propulsion device 30, described in connection with FIGS. 1-7,includes a nozzle assembly cooperating with the platform 31. As usedherein, the “nozzle” refers to a conduit member profile that imposes aspeed increase to a flowing fluid. This increase of fluid speed istypically due to a difference in dimension between the inlet and outletsections of the nozzle element, with the output section having lesser orreduced dimensions compared to that of the input section.

Thus, as indicated in FIGS. 1, 2, 2A, and 3, the main body or theplatform 31 of the propulsion device 30 is coupled to two nozzles 33Aand 33B, which are rotatably mounted to provide rotation along atransverse axis TA, and project on a longitudinal plane of thepropulsion device 30 that is normal to the longitudinal axis AL. Saidnozzles 33A and 33B are respectively positioned at port and starboardsides of the device propulsion 30.

As shown in FIG. 2A (which shows a partial enlargement of FIG. 2), thenozzle 33B located on the starboard side of the propulsion device 30includes a hollow tube that bends substantially ninety degrees. Such atube may cooperate in a recessed connection, for example by bolting orwelding as shown in FIG. 2A, with an arm 33 bA that is alsosubstantially straight and hollow, having a circular sectionsubstantially identical to that of the secondary nozzle with which itcooperates, in this case the nozzle 33B. Said arm 33 bA also is alsopivotably coupled with a first distal portion 34D of the means fordistributing a pressurized fluid.

Also, the secondary nozzle 33A located at the port side of thepropulsion device 30 is coupled (similar to the nozzle 33B) with asubstantially straight arms 33AA with a circular section and identicalto that of said secondary nozzle 33A. Said arm 33AA cooperates in turnaccording to a mechanical connection with a pivoting second distalportion 34D of the means for dispensing a pressurized fluid. The twosecondary nozzles 33A and 33B, as shown in FIG. 3 in particular, maywell advantageously be arranged in mirror images of each other withrespect to either side of a median plane PM of the propulsion device 30,thereby substantially separating the latter into two halves of volumesand for respective similar weight.

The means for distributing the pressurized fluid 34D may advantageouslyconsist of a hollow structure of a substantially ‘Y’ or ‘T’ shape. Ofthis manner, said means 34D may deliver fluid (via first and seconddistal portions in a symmetrical longitudinal plane PL of the propulsiondevice 30) to the two secondary nozzles 33A and 33B via said arms 33AAand 33 bA from a single proximal entry coupled to the remotepressurization station and/or supply duct 2 via coupling 34C. Asindicated in FIGS. 1 and 2, said means 34D can be integrated with thebeam or the main element 31E of the platform 31.

To change the orientation of each secondary nozzle 33A and 3313 in twoplanes respectively (median planes PMA and PMB), the propulsion device30 may include two actuators 35A and 35B respectively associated withsaid nozzles 33A and 33B as shown in FIG. 2A. The actuators may be inthe form of an electric motor with a cam axis of movement as shown inFIG. 2A. Said cam cooperates with the arm 35BA, and thus indirectly withthe nozzle 33B via a connecting rod 35BB whose ends cooperaterespectively through pivotable links with the mechanical cam and arm 33bA. In this manner, rotation of the shaft 35BB by the actuator causes arotation of the output fluid trajectory DE33B of the nozzle 33B in amedian plane of the propulsion device 30. The second secondary nozzle33A operates similarly, as shown in FIG. 3, with an axis of an actuator35A via a connecting rod 35AB. So, two secondary nozzles 33A and 33B canbe oriented and operated independently from each other, under the actionof actuators 35A and 35B, while being jointly supplied with pressurizedfluid from the means 34D via the respective arms 33AA and 33 bA.

Said actuators 35A and 35B may be controlled by a processing unit 37responsible for ensuring total control of the thrust and trajectories ofthe propulsion device 30 by operating jointly with control settings andinput from sensors. As such, each actuator 35A or 35B, or more generallyeach secondary nozzle 33A or 33B, is associated with a sensor (not shownin the figures) responsible for issuing to said processing unit 37 adigital or analog representation of the angular position of the fluidejection direction DE33A or DE338. Other sensors such as anaccelerometer, a gyroscope and/or an altimeter, may be included andoperated to inform said processing unit 37 on movement or the relativeposition under the water surface or above where the propulsion device 30operates. One or more other sensors can also measure the volume, flowrate, and or pressure of the pressurized fluid circulating in thedistribution means 34D and transmit such measurements to said processingunit 37.

As shown in FIGS. 1 to 7, such a propulsion device may include aman-machine interface or user input 36, which may include ahandlebar-type system having two handle surfaces 36A and 36B thatreceive/translate gestures and input made by a user U I of saidpropulsion device into directional instructions. Such an interface 36may be movably mounted along a substantially median axis AM as ahandlebar of a watercraft, or substantially fixed associated with asensor 36S (not shown in FIG. 3), with said sensor 36S responsible formeasuring the rotation/steering effort or torque input about said centeraxis AM applied via the handles 36A and 36B through which the passengerU1 seeks to input an orientation setpoint for the device. Such ahandlebar 36 can be associated with a plurality of human-machineinterfaces such as control levers/switches 38A and 38B, as shown by wayof non-limiting example in FIG. 3, to translate a pressurization powersetpoint, an altitude setpoint, trim input, etc.

The disclosure is not limited to these examples of sensors and/orman-machine interfaces, as described by FIGS. 1-4. Other man-machineinterfaces for inputting or outputting information, including visual,audible, or tactile modalities, which may be disposed on said handlebar36 or any other part of said propulsion device 30.

The thrust/pushing assembly to move said propulsion device 30 includes,in addition to nozzles 33A and 33B, a main nozzle 32 cooperating withthe platform 31 and means for supplying the pressurized fluid 34D, orsuch as in particular shown in FIGS. 1 and 2, with means for collectingthe pressurized fluid 34C. Such a main nozzle 32 essentially providesthe function of propulsion, and the secondary nozzles being positionedsideways (that is to say on both sides of the median plane PM of thepropulsion device 30), and so are primarily responsible for steering thetrajectories of that device 30.

According to FIGS. 1-7, the main nozzle 32 is positioned at the stern31S of the propulsion device 30 and has a fluid outlet trajectory DE32that curves from a direction towards the bow 31P and curves rearwardstowards said stern 31S. Such geometry advantageously contributes to thedisplacement direction being substantially parallel to the surface ofthe fluid above which the propulsion device 30 travels. Alternatively,or additionally, such a propulsion device may comprise a plurality ofmain nozzles.

As indicated in the non-limiting example illustrated by FIG. 1, saidmain nozzle 32 can be coupled to and/or integrated with the body orplatform 31 of the propulsion device 30 and/or coupled to and/orintegrated with the means for collecting the fluid pressurized 34C. Sucha coupling allows installation of the main nozzle 32 with the platform31 to eliminate movement between said main nozzle 32 and said platform31. According to another alternative, the fluid outlet of said mainnozzle 32 could be mounted under the platform 31. In all cases, thedirection of fluid outlet DE32 of the main nozzle 32 is located in amedian plane PM, said median plane including a longitudinal axis G ofsaid propulsion device 30. As depicted in FIG. 2, the fluid is thusexpelled from the main nozzle 32 according to an angle α in relation tothe longitudinal axis AL. The angle α between the direction of fluidexpulsion DE32 and said longitudinal axis AL is advantageously between0° and +45° to ensure a rapid and optimal movement from the fluidsurface to free flight of the propulsion device 30. When the value ofthe angle α is substantially zero, the fluid outlet direction DE32 issubstantially coincident with the longitudinal axis AL. When said angleα is greater than said fluid ejection direction DE32, fluid is directedtowards the surface of fluid above which said propulsion device 30operates. The angle α may be fixed or alternatively be selectivelyadjustable via n actuator (not shown in the FIGS. 1-7) and theprocessing unit 37.

The primary nozzle 32 may be made from a hollow body and curved to havea substantially circular to an elongated oblong shape as shown FIGS. 1and 2. The term ‘elongated’ refers to an elongate form that has lengthlarger than its width and whose angles are rounded. This particularconfiguration allows for decreased pressure losses from a pressurizedfluid source used with the propulsion device 30 and a tenfold increaseof the performance of such a propulsion device 30.

Unlike some known propulsion devices having thrust nozzles positionedabove a center of gravity of the device to remove any physical effort ofthe passenger, e.g., purports to create an impression of being ‘carried’by a hook by a virtual crane at the expense of the ability to move saidpassenger, the main nozzle(s) and secondary nozzles of the thrustassembly of the propulsion device 30 are positioned below said center ofgravity of the device 30. The propulsion device 30 thus keeps alldegrees of freedom to move and ride naturally, without effort or danger,with or without the assistance of the processing unit as disclosedherein with respect to FIG. 10 Thus, agility or intrinsic physicalability of a passenger are no longer criterion for success andachievement to use the device 30.

The platform 31 of a propulsion device according to the disclosureadvantageously comprises, as shown in FIGS. 5-6, a fairing compound 31Hof one or more elements. According to the non-limiting example describedwith said figures, such a fairing envelopes one side hand of theplatform 31 and also the means of distribution 34D of pressurized fluid(except for the side nozzles side, which remain perfectly rotatably R asdescribed previously in connection with FIGS. 2 and 2A). In addition,such fairing does not involve the main nozzle 32 and the collectionmeans of said pressurized fluid 34C, which, as indicated in FIGS. 1 and4, consists of an opening of circular section arranged to accommodatethe distal portion 2 a of a conduit 22 to route pressurized fluid from aremote pressurization station. Said fairing 31H circumscribes theman-machine interfaces 36, 38A, 38B to allow the main passenger U1 tointeract with the processing unit 37, while protecting the componentsfrom contact with the liquid medium in which or above which thepropulsion device 30 is intended to operate. Such protection may consistof a waterproof case to in which sensitive electronic components areintegrated. In one example, the fairing 31H offers a seat or saddle 31T,as shown in FIG. 5, which can be relatively similar to that fitted to apersonal watercraft for example. In this way, as shown in FIG. 7, one ortwo users U1 and U2 can take position on said device 30. To protect thefeet of passengers U1, U2, the shroud 31H is arranged together with theplatform 31, specifically with the tubular structure 31F, to form twolower longitudinal supports 31 ha and 31 hb, in the form of a “U” with aflat central section to support one of the legs of a passenger U1 or U2.

Other configurations of said fairing may also be considered. Thatdescribed in FIGS. 5 and 6 reduces the volume and surface area immersedwhen the propulsion device is partially immersed, similar to acatamaran. In addition, each foot support has a portion inclined towardsthe bow 31P to reduce the force possibly experienced when the device 30faces the fluid surface over which it moves or when any landing. Thefairing 31H may be made out of one or more materials having, alone or incombination, sufficient rigidity to support the weight of the U1 and U2and thereby prevent passengers from excessively deforming the fairingduring the use of the device 30. Such materials may include glass,polymers, or carbon fibers braided and/or mixed with one or more resins,or more generally any other inert material suitable for use in water orfluid.

One of the objectives of a propulsion device 30 according to thedisclosure is to allow passengers to easily move on the surface of afluid, such as the surface of a sea or a lake. For this, passenger U1and/or U2 may be able to take a position on said device 30, as shown inFIG. 7, so that said device is positioned in said fluid (that is to saypartially immersed). Such a device may thus include buoyancy elements31B, arranged and arranged to partially maintain said bow 31P of thedevice 30 at the surface of a fluid when the passenger U1 boards thedevice (such user having an average build, that is to say weighing abouteighty to one hundred kilograms). Such buoyancy elements 31B can be madefrom one or more materials such that as non-limiting examples, asyntactic foam or a polyurethane foam. Such an arrangement facilitatesthe step of “take off” by providing an optimal balance optimal for thepassenger. The fairing 31H may have openings through the wall of theshroud having conical shapes aligned along longitudinal axessubstantially parallel to a median axis AM of the propulsion device 30,and whose upper cross-sectional ends have dimensions sections smallerthan those of lower ends of said openings. As such, the fluid in whichthe device 30 is partially submerged in can easily drain via gravity,quickly easing the weight of said propulsion device 30 during takeoff.Said fairing 31H can further include openings or protrusions 31TP,providing a passenger U1 or U2 with grips/handle points in order tograsp the propulsion device 30 while it takes off. FIGS. 6 and 7 thusillustrate a lateral opening 31TP in the shroud 31H, 31S allowing thepassenger U2 to cling to if necessary.

So that the propulsion device 30 may optionally and advantageouslyassist a passenger, either automatically or on demand, a functionalarchitecture is shown in FIG. 8 with components to target and/or controlthe operation of said propulsion device which make it possible toimplement a control method of the secondary nozzles of the propulsiondevice 30, and assist or control the trajectories, planes, and altitudesin response to instructions from the user, or even a remote party ofsaid propulsion device 30 (such as an instructor, for example), saidinstructions being filtered under an operating context customizable toretain and translate relevant inputs and information with the processingunit 37 of propulsion device 30.

In association with FIGS. 3 and 8, propulsion device 30 may provideautomatic assistance to its use via a processing unit 37 in the form ofone or more microcontrollers or processors or digital/analog signalconverters. Said processing unit 37 may issues driver commands CdA andCdB to actuators 35A, 35B to rotate the secondary nozzles 33A and 33Brespectively associated with said actuators 35A and 35B. To deliver suchcontrol commands CdA, an exemplary implementation of a method forcontrolling said secondary nozzles may include the main steps S11, S12,S20, S31 and S32 (as illustrated in FIG. 8) implemented with theprocessing unit 37 that can advantageously interpret and/or executeinstructions of a product program computer P, whose instructions arepreloaded or included in a program memory 37MP which is in communicationwith the processing unit 37 in a communication bus. The processing unit37 may further include Or cooperate with program memory 37MP and datamemory 37DM to collect data issued by other components, for example,sensors and/or man-machine interfaces as described herein. Such datamemory 37DM can further register one or more configuration parametersthat limit the degrees of freedom or operation desired for a particularuser of the device 30. By way of non-limiting example, suchconfiguration parameters can include thresholds or limits, for example,on a height/altitude and/or a maximum speed for a passenger having amedium build controlling said propulsion device 30.

As mentioned above in connection with FIGS. 1, 3, and 4, in particular,said user U1 can inform the processing unit 37, for example by an input,a desired directional change or altitude change. For this purpose, thepropulsion device 30 has a first man-machine interface 36 that may be inthe form of a handlebar watercraft or motor bicycle. The rotatingrunning or torque applied to said handlebar 36 by the user U1 driver canbe measured by a suitable sensor 36S, by example an inductive sensor(and/or preferably a Hall effect sensor being particularly accuratethanks to its amplification function of the measurement signal limitingand any noise from the environment). A signal C36 supplied by such asensor 36S may be considered as indicating a desired change of directionin the form of an angular position, such as to generate a roll resultingfrom a change of path for a given altitude. Said handlebar 36 mayfurther comprise other two interfaces 38A and 38B, for example in theform of levers, switches, or buttons that a user U1 can inquire orrespectively operate to for a desired increase or decrease inpower/pressurized fluid delivery from the remote pressurized fluidstation that feeds said propulsion device 30 with pressurized fluid, andan increase or decrease desired altitude with respect to a height ofdetermined nominal cruising through a configuration parameter stored ina memory 37DM or 37PM. Such levers 38A and 38B may, like the stroke ofthe handle 36, be respectively associated with sensors and 38BS 38AS, bysuch as Hall sensors. The sensor 38BS may be arranged to output a signalC38B expressing a growth of amplitude and/or decay the pressurizationpower of the pressurization station 40. The remote 38AS sensor may bearranged to outputting a signal C38A expressing a desired altitudechange or “trim” in terms of nominal altitude or “cruise” such as anangular position to cause a pitching resulting from a change of altitudein relation to a nominal plane substantially horizontal thereto.

Other sensors could alternatively and/or further be associated withother interfaces. Such interfaces could themselves directly output dataor signals characterizing the user's instructions for the propulsiondevice 30. To control the plane and/or the current path with respect toa plane and nominal path, the processing unit 37 cooperatesadvantageously by wire or wireless means, with one or more sensors 39,preferably a set of sensors, such as gyroscopes, three axes for definingat each instant the current position of the propulsion device 30 throughthe accelerations and magnetic fields they undergo. Such a set ofpreferred sensors, equipping such aircraft is known as the AHRS acronymfor “attitude and heading reference system” or “inertial” guidance. Saidsensor 39 operates via vibrations to measure changes in direction or theacceleration of gravity to provide a vertical reference. Such sensors 39thus deliver and translate two types of signals or data—roll measurementC39 r and a pitch measurement C39 p, said pitch and roll beingexperienced by the propulsion device 30.

Knowing the measurements of roll and pitch of propulsion device and asetpoint “trim” or change of direction, the processing unit 37 mayimplement a control method for the secondary nozzles 33A and 33B to tryto bring said propulsion device 30 to a plane substantially horizontaland straight directionally. A roll can thus be seen as a position errorangle described by the base of a longitudinal plane FL of saidpropulsion device 30 about a longitudinal axis G of the propulsiondevice 30. The same applies to a direction changing setpoint which canbe seen as a position error with respect to the current plane. Thus, theprocessing unit 37 can implement step S11 to generate a command Cr fordriving a difference ire to relative positions of the secondary nozzles33A and 33B, likely to cause itself a change of direction and thusautomatically correct the current plane. The Cr command can beadvantageously produced by implementing in step S11 a PID controller(Proportional, Integrator, Differentiator), allowing an automatic servotrim of propulsion device 30, taking as input or set value on one hand,the set value C36 describing a position of the handlebar 36 or a torqueapplied thereon resulted in the sensor 36S in an angular position facingsaid longitudinal axis AL compared to a longitudinal plane PL of saiddevice substantially horizontal to the other, and the signal or data C39r indicating, a measure of the roll delivered by the sensor 39. Anyother function or algorithm could be implemented alternatively or inaddition to step S11.

Furthermore, a pitch can be seen as an angular position error describedby the base of a longitudinal plane PL of said propulsion device 30about a transverse axis TA of said device drive 30 relative to a planesubstantially horizontal thereto. It is the same for a set elevationchange that can be seen as an error in angular position with respect tothe current plane about a transverse axis AT of said propulsion device30. Thus, the processing unit 37 may implement a step S12 to produce anorder Cp modification of a mean position of the nozzles side to cause achange above sea level and thus correct the current plane. The Cpcommand can be produced by the implementing in step S12 a PID controller(Acronym for “Proportional Integrator, Differentiator”) allowing servocontrol of the plane PL of the propulsion device 30 taking as input theinstructions C38A on the one hand, which describe a position of thelever 38A translated by the sensor 38AS at a position angled withrespect to said transverse axis AT relative to a plane of asubstantially longitudinal plane PL, and on the other hand, the signalor data C39 p reflecting a measure of pitch delivered by the sensor 39.Any other function or algorithm could be implemented alternatively or inaddition in step S12.

To automatically correct for or cancel roll and pitching whileincorporating any instructions to change direction and/or altitudetransmitted by user U1, the nozzles 33A and 338 may be furthercontrolled by unit 37 to include step S20 to produce instructions CmAand CmB to steer nozzles 33A and 33B, respectively. By way of example,such step S20 can include generating CmA to control steering of thesecondary nozzle 33A, that is to say the secondary nozzle 33A rotatablymounted about a transverse axis TA and positioned on the port side ofthe propelling device 30 described in connection with FIG. 1, by summingthe command Cr to cause a deviation of the relative positions ofsecondary nozzles 33A and 33B and control modification of a meanposition Pc of the nozzles secondary. Said step S20 may includecontrolling steering of the secondary nozzle 33B, that is to say thesecondary nozzle mounted to rotate about a transverse axis AT andpositioned in the device of starboard propulsion 30 described inconnection with FIG. 1, in subtracting the command Cr to cause adifference of relative positions of the secondary nozzles 33A and 33Bwith command Cp to modify a mean position of said secondary nozzles 33Aand 33B.

To ultimately drive the actuators 35A and 35B for movement of saidsecondary nozzles 33A and 33B, in holding joint current accountpositions said secondary nozzles 33A and 33B and said control commandsCmA and said respective secondary nozzles 33A and 33B previouslyproduced step S20, the control process implemented by the processingunit 37 and described in connection with FIG. 8 may advantageouslycomprise two steps S31 and S32 for respectively outputting CdA and CoBcommands, for example, speed or position, depending on the typeconsidered, to actuators 35A and 35B, which then move the secondarynozzles 33A and 33B about a transverse axis AT of said propulsion device30. By way of preferred example and without limitation, step S31 todeliver the CdA control of the actuator 35A controlling the secondarynozzle 33A positioned on the port side of the propulsion device 30 mayinclude controlling said actuator 35A by implementing a corrector PIDtaking as input, on the one hand, the angular measurement MA of an axisof said actuator 35A and/or angular position of the nozzle 33A inrelation to a reference issued by the sensor 39A, and the other, saidcontrol command CmA generated previously in step S20.

S32, concurrent to step S31 previously described, delivers the PIDcontrol output actuator 35B driving the secondary nozzle 33B positionedon the starboard side of the propelling device 30, which therebyoperates the actuator 35B by implementation of the PID controller takingas an input, one hand, the angular measurement MB of an axis of saidactuator 35B and/or the angular position of the nozzle 33B with respectto a given reference issued by the sensor 39B, and secondly, said drivecontrol CmB previously generated at step S20. The exemplary nozzlescontrol method described may include other intermediate steps toconsider other measures, such as the pressure of the fluid supplied tothe thrust assembly 32, 33A and 33B of said device 30 or otheradditional instructions, for example, an instruction to change altitudeand/or to effect a nominal planar orientation.

It is noted that in the absence of any direction change setpoint and/oraltitude recorded by the user, the implementation of the method ofsteering of the secondary nozzles allows automatic compensation for anypitch and/or roll, thus providing steering assistance and unparalleledcomfort for passengers. Furthermore, a propulsion device 30 described inassociation with FIGS. 2-8 may comprise a setpoint interface 38B forchanging the power/delivery of the remote pressurization station thatprovides the pressurized fluid to the device 30 via conduit 2. As anon-limiting example, the processing unit 37 may in consider the settingC38B of user U1 input via the interface 38B, translated by theassociated sensor 38BS, as a possible power determined by a nominalconfiguration parameter, to then provide a signal CD40 to control theremote pressurization station 40. Such control can be transmittedthrough the air via a wireless communication, or alternatively throughcommunication means 37C in communication with the processing unit 37.

A take-off phase and, to a lesser extent, a landing phase may bedifficult for a beginner or intermediate user U1 of the propulsiondevice 30. The features disclosed herein provides particularly valuableassistance during these automatic critical phases.

Thus, to prepare a takeoff, a first passenger U1 and/or a secondpassenger U2 must first take a position on the seat 31T. When thepropulsion device 30 is partially submerged and the engine of the remotepressurization station is at a low RPM/rate, although the buoyancy means31B helps such passengers or U1 and/or U2 to retain their positions onthe seat 31T, the balance of the device before takeoff can seem insecureor cause anxiousness for some novice riders.

Once the pilot-passenger U1 operates the interface 38 or the throttle(that is to say, allowing the interface to control power of the remotepressurization station), or as soon as the plane of said propulsiondevice is abruptly altered by the loading of a passenger, processingunit 37 may provide automatic assistance during a specific adjustabletime, for example a time period of approximately twenty seconds, toprovide excellent stabilization of the propulsion device 30. Such aresult can be obtained as a result of the processing unit 37 actingjointly on the power of fluid delivery by the remote pressurizationstation and the orientation of the secondary nozzles. For this, saidprocessing unit 37 may taker into account the pressure at the fluidflowing in the means for supplying 34D to the main nozzle(s) andsecondary nozzles. This information can be provided by one or moresensors (not shown in FIGS. 1-7), as mentioned above. Said fluidpressure will thus constitute, for the unity of processing 37, aparameter adjustment function implemented in steps S11, S12, S31 and/orS32 described in connection with FIG. 8. Specifically, when fluidpressure supplied to the thrust assembly of the propulsion device 30 islow, it is relevant to increase the sensitivity of the control methodfor the secondary nozzles to appropriately address pitch and/or roll.However, when the pressure of said fluid is high, for example when thedevice has a cruising trajectory, sensitivity of said secondary nozzlecontrol methods may be reduced to limit sudden and excessive correctionsof said roll and pitch felt by the passenger U1.

Returning to the take-off phase, when said pilot-passenger U1 isoperating the interface 38 (or any other instrument dedicated orincluded with this interface) moderately, for example, below adetermined power or thrust threshold and is ready to take off, theprocessing unit 37 may implement the secondary nozzle control method 33Aand 33B and automatically trigger an increase in the pressurizationpower of the remote station. The latter is sufficient for the propulsiondevice 30 to emerge completely up from the water and achieve a pitch, byway of non-limiting example, of the order of 10° to 15° with respect tothe horizon. At this stage, the power takeoff is complete and thecontrol method of the secondary nozzles may resume for nominal operationof the device. The base of the propelling device 30 thus quicklyrecovers (in a matter of seconds) a perfectly horizontal orientation.The disclosed device and methods may provide at this stage an outputgenerated by the processing unit 37 indicating implementation of themethod of management of the secondary nozzles, whether by sound alertsand/or visual or vibration alerts. Such a signal alert informs thepassenger U1 that he now has some measure of piloting control as opposedto an autonomous take-off phase and operation not requiring any userinput or control.

Alternatively, and/or additionally, such automatic assistance mayprovide that the nozzle control methods cause the issuance of a secondsignal or alert (whether through audible, visual, or tactile modalities)alerting said pilot-passenger U1 a breach of a safe takeoff procedureand control. This can result from excessive and premature biasing thethrottle control and/or control of the remote pressurization station,via the interface 38B for example, or an attempt to impart one or moreexcessive changes of desired trajectories, via the interface 36 byexample, during the power takeoff. This second signal may indicate tothe user U1 that due to the undesirable or excessive control inputs, thedevice has reduced the level of the fluid requested from thepressurization station feeding the thrust group thrust of the propulsiondevice 30, and has biased or reduced the input from the handle 36 belowone or more predetermined thresholds. In the meantime, the propulsiondevice, under the action of the processing unit 37, may automaticallypursue a default low-speed travel, altitude, and attitude determined tobe safe.

Concerning splashdown, the present disclosure provides control methodsfor the secondary nozzles that can automatically assist the user U1 whenrequesting landing. This can be detected by the processing unit, forexample, triggered by a specified period of time during which the userhas let go of the throttle or input (generally known by the term “deadman detection”). In this case, so that the propulsion device 30 does notviolently fall and impact the surface of the fluid being flown above,the processing unit 37, via the implementation of a control method ofthe secondary nozzles as disclosed herein, transmits a command forreducing the pressurization power of the fluid being delivered to thethrust group by the remote pressurization station and modifiesorientation of the nozzles 33A and 33B to first regain altitude andspeed displacement corresponding to those achieved at the end of thepower take-off phase, and subsequently to cause a soft landing. Thetake-off phases and/or assisted landing phases and control are of courseoptional. Their implementation and settings may result from setting theoperation of the control methods of the secondary nozzles in accordancewith the principles disclosed herein.

The embodiment described in connection with FIG. 8 with a propulsiondevice 30 may advantageously allow a remote instructor, by examplepositioned on the pressurization station 40 or on a quay or on a nearbyboat, to control the operation of the propulsion device 30 instead ofthe user U1. For this, the means 37C may receive a communication messageoverride C40 interpretable by the processing unit 37 of the propulsiondevice 30. Such priority control message C40 can convey instructionssimilar to flying instructions C36 and instructions C38A mentionedabove. Said instructions C40 conveyed can otherwise mimic the controlmethod of the secondary nozzles previously described instead of theinput and control produced via the interfaces 36 and 38A. Thus, aninstructor can intervene on request as needed or desired during theoperation of a beginner passenger U1. Furthermore, the processing unit37 may include or cooperate with one or more power electric sources37PS, charged with an electricity supply to activate the processing unititself and/or sensors or actuators disclosed herein.

Finally, the processing unit 37 can record a history of instructionsand/or received pilot controls, or even location data optionallydelivered by the sensor 39 for purposes of monitoring or controlling theuse of the propulsion device 30 according to the present disclosure.Such a history can be saved in the memory 37DM and be readable from acommunicating electronic object, such as a computer, a smart mobilephone, and/or interactive tablet for consultation. Such communicationmay further enable to ability to modify the program P recorded in theprogram memory 37PM and/or certain stored configuration parameters insaid data memory 37DM in order to modify, on demand, the behavior of thepropulsion device 30 and the automatic assistance delivered by thelatter. It is thus possible to modify all or part of the instructionsand/or data parameters used by product program P that implements thecontrol methods of the secondary nozzles with the processing unit 37.Such communication may be implemented through the means of communicationreferred to above or via other means of possible communication dedicatedto this purpose.

Now referring to FIGS. 9-10, additional examples of a personalpropulsion system are shown, generally designated as ‘110’, that maygenerally include a pressurized fluid source 112 and a personalpropulsion device 114 having, or coupled to, one or more fluid deliveryconduits 116.

The pressurized fluid source or unit 112 may include an unmanned marineunit having a substantially water-tight and/or wave-piercing hull(operable on a water surface and/or submersible—examples of which areset forth in U.S. Pat. No. 7,258,301, the entirety of which is herebyincorporated by reference), a boat, a personal watercraft such as a waverunner or jet ski configured to transport passengers thereon, or a pumpor compression station that may be located on land or in/on water.

The pressurized fluid source 112 may include a plurality of fluiddischarge ports to provide pressurized fluid to one or a plurality ofpersonal propulsion devices 114. Simultaneous use or operation ofmultiple personal propulsion devices 114 maybe desirable, for example,in a theme park setting, during an exhibition or competition event, orthe like where multiple personal propulsion devices 114 will be operatedsimultaneously. In an example where the pressurized fluid source 112 isa boat or personal watercraft, such multiple fluid discharge ports maynot only provide for simultaneous use of a plurality of personalpropulsion devices 114, but to also provide one or more fluid dischargeports to controllably maneuver the boat or personal watercraft duringuse of the personal propulsion device 114.

For example, the pressurized fluid source 112 shown in FIGS. 9-10(illustrated as a personal watercraft) may include a first fluiddischarge port 118 that is coupled to the fluid delivery conduit 116 toprovide pressurized fluid thereto. The pressurized fluid source 112 mayalso include or define a second fluid discharge port 120 that directsfluid out of a rear of the pressurized fluid source 112 to move thepressurized fluid source, for example, within a body of water. Thesecond fluid discharge port 120 may be substantially similar to an exitnozzle and/or venturi configuration adjacent to an impeller 122 that iscommon to personal watercraft as the primary propulsion mechanism tomove the watercraft in the water. The second fluid discharge port 120may include steerable mechanisms to change a direction of fluid exitingthe watercraft, as well as reverse thrust and braking mechanisms coupledon or about the second fluid discharge port 120. In one aspect, thepressurized fluid source 112 may include input controls 140. In oneaspect, the personal propulsion device 114 may include input controls140. The input controls 140 may be hand operated controls, foot operatedcontrols, and the like. In one aspect, the input controls 140 may beconfigured as a remote control communicating to the system 110 over awired or wireless communication channel as defined herein. In thisregard, if the user is a beginner, a remote-controlled implementationmay allow a teacher to control the system 110 for the beginner. Theinput controls 140 may be operated to provide mechanical, electrical,hydraulic, and the like inputs to control the personal propulsion device114 and/or the pressurized fluid source 112. In one aspect, the inputcontrols 140 may control at least in part the steerable mechanisms ofthe pressurized fluid source 112. In one aspect, the steerablemechanisms of the pressurized fluid source 112 may be controlled withone or more controllers, sensors, or other components of the system toprovide the features and operations disclosed herein.

Fluid flow through the first and second fluid discharge ports 118, 120may be selectively, and independently controllable, for example, byoperation of the input controls 140. In one aspect, fluid flow throughthe first and second fluid discharge ports 118, 120 may be selectively,and independently controllable with one or more controllers, sensors, orother components of the system to provide the features and operationsdisclosed herein. For example, the pressurized fluid source 112 may havea single impeller 122 driven by a power source, such as a combustionengine or other means. The first and second fluid discharge ports 118,120 may be positioned adjacent to the impeller 122, and one or morefluid control valves 124 may also be coupled to or placed in the fluidflow path of the first and second fluid discharge ports to allow a userto modify the fluid how through the first discharge port 118 withoutaffecting fluid flow through the second fluid discharge port 120, andvice versa.

In an alternative example, as shown in FIG. 11, the pressurized fluidsource 112 may include a plurality of independently driven or controlledimpellers 122 a, 122 b that separately provide pressurized fluid to thediscrete fluid discharge ports 118, 120. Such an example may alsoinclude one or more fluid control valves 124 to maintain a desiredpressure on either of the impellers 122 a, 122 b or to otherwise createoptimal fluid intake and expulsion characteristics during operation ofthe system 110. In one aspect, the independently driven or controlledimpellers 122 a, 122 b may be controlled with one or more controllers,sensors, or other components of the system to provide the features andoperations disclosed herein. In one aspect, the independently driven orcontrolled impellers 122 a, 122 b may be controlled, for example, byoperation of the input controls 140.

The system 110 may include one or more fluid control valves 124 disposedwithin a fluid flow path of the system 110 to adjust, control, orotherwise affect fluid flow at one or more points in the system 110, forexample, by operation of the input controls 140. In one aspect, thefluid control valves 124 may be operated by with one or morecontrollers, sensors, or other components of the system to provide thefeatures and operations disclosed herein. Such fluid control components124 may include, for example, solenoid valves, flapper valves, ballvalves, butterfly valves, or other mechanisms that can selectively andcontrollably adjust fluid flow. In one aspect, the valves may becontrolled by actuators such as an electric motor, solenoid, pneumaticactuators which are controlled by air pressure, hydraulic actuatorswhich are controlled by the pressure of a liquid such as oil or water,or the like. In another aspect, the valves may be manually operated. Ineither aspect, the valves may be controlled, for example, by operationof the input controls 140. In either aspect, the valves may becontrolled with one or more controllers, sensors, or other components ofthe system to provide the features and operations disclosed herein.

The fluid delivery conduits 116 may include elongated, flexible hosebodies constructed of materials having sufficient strength to withstandhigh fluid pressures within, and may include such materials used oremployed in the construction of fire hoses or other industrial fluidhose constructs, such as plastics, polymers, fabrics, ceramiccomponents, and/or combinations thereof. The fluid delivery conduit(s)116 may define an internal diameter sufficient to convey volumes offluid requisite to operate the system as disclosed herein, which may bebetween approximately six inches and eighteen inches for example. Thefluid conduit 116 may further define an elongated length allowing thepersonal propulsion device 114 to be operated a safe or desired distancefrom the pressurized fluid source 112 and/or providing a desiredelevation or flight capability of the personal propulsion device 114.For example, the fluid conduit(s) 116 may have a length betweenapproximately thirty feet and approximately eighty feet The fluiddelivery conduit(s) 116 may be engageable either directly to one or morefluid discharge ports 118, 120 of the pressurized fluid source 112, orbe coupled to the pressurized fluid source 112 through one or moreintermediary components, such as a “Y”-pipe, manifold, or the like, thatcan divide fluid flow from a single fluid discharge port to multiplefluid delivery conduits.

The example in FIG. 9 illustrates two flexible fluid conduits 116 a, 116b extending to the personal propulsion device 114. The multi-conduitconfiguration can provide added stability to the personal propulsiondevice 114 during operation, during which the flexible fluid conduits116 a, 116 b would have increased rigidity due to the pressurized fluidtherein, thus providing two points of stabilization exerted on thepersonal propulsion device 114 that can resist or decrease: excess yaw,pitch, and roll movements. In the example shown in FIG. 10, a singlefluid conduit may extend to the personal propulsion device 114,providing increased maneuverability about one or more axes with respectto the single fluid conduit. The fluid conduits 116 may be coupled tothe personal propulsion device 114 to form a joint or pivot pointallowing movement between the fluid conduit(s) and the personalpropulsion device. For example, the fluid conduit 16 may be attached tothe personal propulsion device 114 through a hinged or pivotingassembly, or alternatively may include a multi-axis coupling, such as aball-and-socket type of joint.

The personal propulsion device 114 may generally include one or moresurfaces to support one or more passengers as well as fluid-propelledthrust features enabling the personal propulsion device to elevate andachieve flight through the expulsion of pressurized fluid. For example,the personal propulsion device 114 may include or define a platform 126that is sized, shaped, or otherwise configured to support a passenger.The platform 126 may include a unitary construction or alternativelyinclude the assembly of multiple components fixedly, releasably, and/ormovably coupled together to provide the features disclosed herein. Theplatform 126 may be configured to support one or more passengers in aseated and/or prostrate position, and may include one or more seats,raised ledges or surfaces for seating, or the like The platform 126 mayinclude one or more cushioned portions and/or buoyant portions toprovide comfort and safety to the passenger(s). In one aspect, theplatform 26 may include the input controls 140.

The personal propulsion device 114 may include one or more componentsthat employ or discharge pressurized fluid to provide or generate aforce to aid in elevating, moving, stabilizing, and/or otherwisecontrollably using the platform 126. For example, the passenger assembly114 may include one or more fluid outlets 128 coupled to the platform126. In the examples shown in FIGS. 9 and 10, the personal propulsiondevice 114 includes a plurality of substantially downward-facing fluidoutlets 128 having a nozzle-shape or configuration that dischargepressurized fluid received from the pressurized fluid source 112 tomove, stabilize, elevate or otherwise direct or orient the platform 126as desired, for example, by operation of the input controls 140. In oneaspect, the pressurized fluid source 112 may move, stabilize, elevate orotherwise direct or orient the platform 126 with one or morecontrollers, sensors, or other components of the system to provide thefeatures and operations disclosed herein. The fluid outlets 128 may bepositioned about the platform 126 to provide a desired degree ofstability and/or maneuverability. For example, the fluid outlets 128 maybe attached to an underside of the platform 126, or extend from or beattached to one or more sides of the platform 126. As stated above, thefluid outlets 128 may include a nozzle shape to accelerate fluidejection and increase a resulting thrust, and may have varyingdimensions to achieve desired thrust output. In one aspect, the thrustoutput ay be controlled by the user, for example, by operation of theinput controls 140. In one aspect, the thrust output may be controlledwith one or more controllers, sensors, or other components of the systemto provide the features and operations disclosed herein. In one aspect,during certain activities the thrust provided by the fluid outlets 128may exceed the mass of the personal propulsion device 114 and at least aportion of the fluid conduit 116 to generate lift.

The fluid outlets 128 may be arranged in numerous, varyingconfigurations. For example, the personal prolusion devices 114 shownFIGS. 9-10 include two fluid outlets 128 positioned around a midsectionof the platform 126. Alternative configurations may include four fluidoutlets 128 placed substantially equidistant around a perimeter or pointof the platform 126, as shown in FIG. 12; or six fluid outlets 128 ofvarying size, having two larger fluid outlets near a midsection of theplatform and four smaller fluid outlets disposed around a larger area ofthe platform, as shown in FIG. 13. In other aspects, any number of fluidoutlets 128 may be utilized. In other aspects, the fluid outlets 128 maybe symmetrically arranged to provide stability. In some aspects, thefluid outlets 128 may discharge fluid generally vertically downwardly.In some aspects, the fluid outlets 128 may discharge fluid generallyvertically downwardly each at an angle away from the platform 126 toincrease stability.

The fluid outlets 128 may be configured in a static configuration withone or more preset dimensions(e.g., with a set opening circumference,length, or the like) and/or location on or with respect to the platform126. Alternatively, the fluid outlets 128 may have characteristics orconfigurations that can be dynamically, selectively, and controllablyadjusted during use of the system 110, for example, by operation of theinput controls 140. For example, the fluid outlets 128 may be coupled toone or more actuators, motors, servos, or the like (collectively,‘actuators 130’) that can modify or adjust at least one of a location,angular orientation and/or thrust direction, length, and/or fluid flowdiameter of the fluid outlet 128. In one aspect, the actuator 130 may becontrolled with one or more controllers, sensors, or other components ofthe system to provide the features and operations disclosed herein. Theactuators 130 may, for example, include one or more electrical,mechanical, and/or pneumatic mechanisms, or combinations thereof, andmay include linear, rotary, or other motion and movement patterns. Theactuators 130 may be in communication with one or more controllers,sensors, or other components of the system to provide the features andoperations disclosed herein.

In one example, an actuator 130 may be coupled to a fluid outlet 128 toselectively adjust and control a diameter of the fluid outlet to affectthe rate of fluid flow therethrough, and thus affect a thrust forcegenerated by dispelling fluid. For example, the actuator 130 may includea diameter constricting or reduction/expansion mechanism, such as anadjustable iris (an example of which is shown in FIG. 14), or mayalternatively include a noose-like mechanism that constricts and relaxesa flexible segment of the fluid outlet to modify the diameter (notshown). Other constructions to adjust and control fluid flow arecontemplated as well. In one aspect, the actuator 130 may be controlledby the user, for example, by operation of the input controls 140. In oneaspect, the actuator 130 may be controlled with one or more controllers,sensors, or other components of the system to provide the features andoperations disclosed herein.

In another example, an actuator 130 may be coupled to a fluid outlet 128to selectively adjust and control a length of a tubing or nozzle bodyleading to the fluid outlet 128. For example, as shown in FIG. 15, theactuator 130 may be coupled to a telescoping construct of the fluidoutlet 128 that can be selectively extended or retracted. Such atelescoping mechanism may also have stepped-down reductions in diameteralong a length of its components, thereby allowing control of bothlength and diameter of the fluid outlet 128.

In another example, an actuator 130 may be coupled to a fluid outlet 128to adjust its angular orientation and thus affect the direction thatfluid is expelled. The fluid outlet 128 may include or be coupled to theplatform 126 through a multi-axis joint (such as a ball-and-socket fluidcoupling) to provide a wide range of available fluid outlet directions.

In another example, an actuator 130 may be coupled to a fluid outlet 128to modify a physical position of the fluid outlet 128 with respect tothe platform 126 and/or other components of the personal propulsiondevice 114. For example, during use of the system 110, the fluid outlets128 may be movable along a length or width of the platform 126. As shownin FIG. 16, the fluid outlets 128 may be movably coupled to and/orslidably disposed within a track or guide 132 that provides a range oflocations that the fluid outlets 128 may be moved to. The track 132 mayprovide a plurality of discrete locations that a fluid outlet 128 can beset or locked into, or alternatively provide an uninterrupted length ordimension that one or more fluid outlets 128 can travel along. Anactuator 130 can facilitate the movement of the fluid outlet(s) 128 to adesired position along the track 132 and may also be operated to securethe fluid outlet 128 into a desired position once the position has beenattained. Individual fluid outlets may be movable independently of otherfluid outlets, or may be moved in conjunction or coordination with otherfluid outlets. In aspects, the actuator 130 may be implemented with anelectric motor or solenoid, pneumatic actuators which are controlled byair pressure, or hydraulic actuators which are controlled by thepressure of a liquid such as oil or water. In another aspect, theactuator 130 may be manually operated. In one aspect, the actuator 130may be controlled by the input controls 140. In one aspect, the actuator130 may be controlled with one or more controllers, sensors, or othercomponents of the system to provide the features and operationsdisclosed herein.

Fluid flow through any of the fluid outlets may be controllableindependent of fluid flow through other fluid outlets. To achieve suchindependently controllable and adjustable fluid flow, fluid controlvalves 124 may be coupled to or otherwise placed in proximity to thefluid outlets 128, may be coupled to or otherwise placed in proximity tothe fluid discharge ports 118, 120 of the pressurized fluid source 112,and/or may be disposed along a length of the fluid delivery conduit(s)116. The fluid control valves 124 may be in communication with one ormore controllers, sensors, or other components of the system to providethe features and operations disclosed herein.

The system 110 may include one or more sensors and/or diagnosticinstruments 134 that measure, read, assess, or otherwise gatherinformation about one or more features, conditions, and characteristicsof the system 110 before, during, and/or after use of the system. Forexample, one or more sensors 134 may be coupled to the pressurized fluidsource 112 to assess, measure and/or monitor an engine RPM, fluid flowrate, fluid pressure, speed, location, movement direction, and/ortemperature of one or more components of the pressurized fluid source orfluid provided by the pressurized fluid source 112.

One or more sensors 134 may be coupled to the personal propulsion device114 to assess, measure and/or monitor one or more features, conditions,and characteristics of the personal propulsion device 114 before,during, and/or after use. For example, the personal propulsion device114 may include one or more sensors 134 coupled thereto to measure ormonitor position, angular orientation, tilt, speed, acceleration,elevation/altitude, fluid outlet conditions (e.g., position, angularorientation, fluid output performance), roll, yaw, pitch, roll rate, yawrate, pitch rate, and/or the like. In one aspect, the one or moresensors 134 may include an altimeter. In aspects implementing altimeter,the altimeter may include a sonic altimeter, radar altimeter, or thelike. In one aspect, the one or more sensors 134 may include anaccelerometer. In aspects implementing an accelerometer, theaccelerometer may include a bulk micromachined capacitive accelerometer,a bulk micromachined piezoelectric resistive accelerometer, a capacitivespring mass system base accelerometer, a DC response accelerometer, anelectromechanical servo (Servo Force Balance) accelerometer, a highgravity accelerometer, a laser accelerometer to motor accelerometer, alow frequency accelerometer, a magnetic induction accelerometer, amodally tuned impact hammer accelerometer, null-balance accelerometer,optical accelerometer, pendulous integrating gyroscopic accelerometer(PIGA), a piezoelectric accelerometer, a resonance accelerometer, a seatpad accelerometer, a shear mode accelerometer, a strain gaugeaccelerometer, a surface acoustic wave (SAW) accelerometer, a surfacemicromachined capacitive (MEMS) accelerometer, a thermal (submicrometreCMOS process) accelerometer, a triaxial accelerometer, a vacuum diodewith flexible anode accelerometer, a potentiometric type accelerometer,a LVDT type accelerometer and the like. In one aspect, the one or moresensors 34 may include a tilt sensor. The tilt sensor may include amicroelectromechanical systems (MEMS) sensor that enables tilt anglemeasuring tasks to be performed in both single and dual axis mode suchas an ultra-high precision two-axis MEMS driven digitalinclinometer/tiltmeter.

The system 110 may include a position assessment element 36 operable andconfigured to assess, measure, and/or monitor a distance or anglebetween at least a portion of the fluid delivery conduit 116 and aportion of the personal propulsion device 114, which may be indicativeof a height or position of the personal propulsion device 114. Theposition assessment element 136 may include, for example, an angularposition sensor, a rotary encoder, an optical sensor, an impedancesensor, capacitive transducer, capacitive displacement sensor,eddy-current sensor, ultrasonic sensor, grating sensor, hall effectsensor, inductive non-contact position sensor, laser doppler vibrometer(optical), linear variable differential transformer (LVDT), multi-axisdisplacement transducer, photodiode array, piezo-electric transducer,potentiometer, string potentiometer, and/or the like. In the exampleshown in FIG. 17, the position assessment element 136 is coupled to theplatform 126 and assesses an angle α formed between the fluid deliveryconduit 116 and an underside of the platform 126. The angle α variesdepending on the height or elevation of the platform 126. For example,when the platform 126 is on or near the surface of a body of water, theangle α is smaller since the fluid delivery conduit 116 is also on ornear the surface of the water. As the platform 126 is elevated, theangle α increases, thus giving indication of the height or elevation ofthe platform. Assessing height through the angular position of the fluiddelivery conduit 116 can provide an accurate height measurement at lowerheights or altitudes where traditional altimeters may be inaccurate orinoperable.

In operation similar to assessing the angle α, the position assessmentelement 136 may monitor and/or measure a distance ‘d’ between a discretepoint or location on the platform 126 and a discrete point or locationon the fluid delivery conduit 116, and extrapolate, deduce or calculatea height of the platform 126 based upon the distance ‘d’, with a largermeasured value indicating, a greater height.

The system 110 may include one or more controllers 138 operable tomodify, adjust, or otherwise control the various components of thesystem, including for example, the pressurized fluid source 112, thefluid discharge ports 118, 120, fluid control valves 124, fluid outlets128, and/or actuators 130. A controller 138 may be implemented as asingle control implementing one or more aspects of the system 110, oralternatively, multiple controllers may be implemented with eachcontroller implementing one or more aspects of the system. For example,individual controllers may be implemented for each of the pressurizedfluid source 112, the fluid discharge ports 118, 120, fluid controlvalves 124, fluid outlets 128, and actuators 130. The controller(s) 138may receive information from one or more of the sensors or componentsdescribed herein, and may be positioned or located on a surface orportion of the system 110 accessible to a user during operation. Forexample, one or more controllers 138 may be coupled to the personalpropulsion device 114 to allow a passenger to monitor or provide inputinto the controller, for example, by operation of the input controls140, to affect operation of the system 110. In addition, and/oralternatively, one or more controllers 138 may be coupled to thepressurized fluid source 112 to allow an operator or passenger thereonmonitor or provide input into the controller to affect operation of thesystem 110.

The controller 138 may generally include a processor, a power supply, amemory, a clock, an analog to digital converter (A/D), digital to analogconverter (DAC), one or more input/output (I/O) ports, and the like. TheI/O ports may be configured to receive signals from any suitablyattached electronic device and forward these signals from the A/D and/orto processor. These signals include signals from the sensors. If thesignals are in analog format, the signals may proceed via the A/D. Inthis regard, the A/D may be configured to receive analog format signalsand convert these signals into corresponding digital format signals. Thecontroller 38 may include a transceiver configured to transmit signals,such as control signals and the like, over a wired and/or wirelesscommunication channel as defined herein to communicate with the othersensors and components of the system 110.

In an exemplary of use of the system 110, the pressurized fluid source112 may be operated to deliver pressurized fluid, such as water, throughthe fluid delivery conduit(s) 116 to the personal propulsion device 114to elevate the personal propulsion device to achieve flight. Inparticular, the pressurized fluid source 112 may be operated and/orcontrolled from one or more controllers 138 coupled to the personalpropulsion device 114 to deliver pressurized fluid to the fluidoutlet(s) 128 coupled to the platform 126. The flow or delivery of fluidthrough the system 110 may be modified or adjusted during use throughoperation of one or more of the fluid control valves 124 disclosedherein to achieve a desired position, orientation, or movement of thepersonal propulsion device 114 and/or the pressurized fluid source 112.Such modification may be performed through actions taken or inputsentered by a passenger of the system 110, for example, by operation ofthe input controls 140, or performed automatically in association withfeedback and information provided by the various sensors disclosedherein.

In one example of operating the system 110, it may be desired tomaintain the platform 126 in a substantially balanced, horizontalorientation at a particular height, while the pressurized fluid source112 tows or pulls the personal propulsion device along in a body ofwater. During such use, the pressurized fluid source 112 may he operatedto deliver sufficient fluid to the fluid outlets 128 to sustain theplatform 126 (and any passengers, equipment, and/or cargo thereon) at apreset height in a substantially level state The height of the platform126 may be monitored by the sensors 134 (such as an altimeter orotherwise) and/or the position assessment element 136 monitoring anangle or distance between the platform 126 and the fluid deliveryconduit 116, and such monitored information may be communicated to thecontroller 138. The controller 138, in turn, may analyze or assess thereceived information, and modify the fluid flow through one or moresegments of the system 110 to maintain an achieved or preset height by,for example, increasing/decreasing output of the pressurized fluidsource 112, adjusting one or more fluid control valves 124 in the fluidflow path of the system, and/or changing a position or orientation ofthe fluid outlets 128 through operation of the actuators 130.

The system 110 may be similarly operated to maintain or limit an amountof pitch, roll, yaw, pitch rate, roll rate, yaw rate, and the likeexperienced by the platform 126 to prevent tipping over or ejection of apassenger. For example, the controller 138 may have preset, predefinedthreshold limits for pitch, roll, yaw, pitch rate, roll rate, yaw rate,and the like. In one such example, it may be desirable to limit orprevent the platform 26 from rolling or pitching past an angle ofapproximately thirty degrees with respect to a horizon or levelreference point. The system 110 may monitor the orientation of theplatform through the sensors 134 (including, for example, one or moreaccelerometers or tilt sensors), and communicate the measurements to thecontroller 138 for subsequent corrective action to be taken with respectto the pressurized fluid source 112, one or more of the fluid controlvalves 124, fluid outlets 128, and/or actuators (e.g., fluid flow,position, and/or orientation of the fluid outlet), in one aspect, thecontroller 138 may implement predefined roll, yaw, pitch, roll rate, yawrate, pitch rate, and/or the like limits. In a further aspect, thecontroller 138 may have a plurality of predefined limits such asbeginner, novice, and expert, and the controller 138 may control thepersonal propulsion device 114 based on these plurality of predefinedlimits. In other words, the controller 138 may be set for beginner andmay implement predefined roll, pitch, yaw, and the like limits forbeginner use. In aspect, the one or more controllers 138 may implementelectronic stability control that improves the personal propulsiondevice 114 stability by detecting and reducing loss of control. Duringnormal operation the electronic stability control may work in thebackground and continuously monitor the personal propulsion device 114operation. It compares the user's intended operation (determined throughthe input controls 140) to the personal propulsion device 114 actualdirection (determined through measured lateral acceleration, roll, yaw,pitch, roll rate, yaw rate, pitch rate, and/or the like by the sensors134). The electronic stability control may intervene only when itdetects a probable loss of control to stabilize the personal propulsiondevice 114 by actively controlling operation of the one or more fluidoutlets 128.

In addition and/or alternatively to the methods described above,operation of the pressurized fluid source 112 may be modified,controlled, or adjusted to achieve a desired movement, orientation,and/or position of the pressurized fluid source 112. For example, thesystem 110 may be operated such that fluid expelled from the secondfluid discharge port 120 of the pressurized fluid source is modified bythe controller 138 to move, steer, or otherwise control the pressurizedfluid source independently of the control and positioning of thepersonal propulsion device 114.

Features of the present disclosure can be realized in hardware, or acombination of hardware and software. Any kind of computing system, orother apparatus adapted for carrying out the methods described herein,is suited to perform the functions described herein. A typicalcombination of hardware and software could be a specialized computersystem, having one or more processing elements and a computer programstored on a storage medium that, when loaded and executed, controls thecomputer system such that it carries out the methods described herein.Features of the present disclosure can also be embedded in a computerprogram product, which comprises all the features enabling theimplementation of the methods described herein, and which, when loadedin a computing system is able to carry out these methods Storage mediumrefers to any volatile or non-volatile storage device.

Computer program or application in the present context means anyexpression, in any language, code or notation, of a set of instructionsintended to cause a system having an information processing capabilityto perform a particular function either directly or after either or bothof the following a) conversion to another language, code or notation; b)reproduction in a different material form. Storage medium refers to anyvolatile or non-volatile computer readable storage device such asmagnetic storage, semiconductor memory, DVD, Compact Disk or memorystick, but does not encompass a signal propagation media such as acopper cable, optical fiber or wireless transmission media. Program codemay be transmitted to a computer constructed in accordance with theprinciples of the present disclosure using any appropriate medium,including but not limited to wireless, wireline, optical fiber cable,RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects disclosedherein may be written in any combination of one or more programminglanguages, including an object oriented programming language such asJava, Smalltalk, C++ or the like and conventional procedural programminglanguages, such as the “C” programming language or similar programminglanguages. The program code may execute entirely on the user's computer,partly on the user's computer, as a stand-alone software package, partlyon the user's computer and partly on a remote computer or entirely onthe remote computer or server. In the latter scenario, the remotecomputer may be connected to the user's computer through any type ofnetwork, including a local area network (LAN) or a wide area network(WAN), or the connection may be made to an external computer (forexample, through the Internet using an Internet Service Provider).

These computer program instructions may also be stored in a computerreadable medium that can direct a computer, other programmable dataprocessing apparatus, or other devices to function in a particularmanner, such that the instructions stored in the computer readablemedium produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions may also be loaded onto a computer,other programmable data processing apparatus, or other devices to causea series of operational steps to be performed on the computer, otherprogrammable apparatus or other devices to produce a computerimplemented process such that the instructions which execute on thecomputer or other programmable apparatus provide processes forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. It is noted that the computer programs of thepresent invention can be downloaded via the Internet to a computer.

Aspects of the disclosure may include communication channels that may beany type of wired or wireless electronic communications network, suchas, e.g., a wired/wireless local area network (LAN), a wired/wirelesspersonal area network (PAN), a wired/wireless home area network (HAN), awired/wireless wide area network (WAN), a campus network, a metropolitannetwork, an enterprise private network, a virtual private network (VPN),an internetwork, a backbone network (BBN), a global area network (GAN),the Internet, an intranet, an extranet, an overlay network, Near fieldcommunication (NFC), a cellular telephone network, a PersonalCommunications Service (PCS), using known protocols such as the GlobalSystem for Mobile Communications (GSM), CDMA (Code-Division MultipleAccess), GSM/EDGE and UMTS/HSPA network, technologies, Long TermEvolution (LTE), 5G (5th generation mobile networks or 5th generationwireless systems), WiMAX, HSPA+, W-CDMA (Wideband Code-Division MultipleAccess), CDMA2000 (also known as C2K or IMT Multi-Carrier (IMT-MC)),Wireless Fidelity (Wi-Fi), Bluetooth, and/or the like, and/or acombination of two or more thereof. The NFC standards covercommunications protocols and data exchange formats, and are based onexisting radio-frequency identification (RFID) standards includingISO/IEC 14443 and FeliCa. The standards include ISO/IEC 18092[3] andthose defined by the NFC Forum.

It will be appreciated by persons skilled in the art that the presentdisclosure is not limited to what has been particularly shown anddescribed herein above. In addition, unless mention was made above tothe contrary, it should be noted that all of the accompanying drawingsare not to scale. Of note, the system components have been representedwhere appropriate by conventional symbols in the drawings, showing onlythose specific details that are pertinent to understanding theembodiments of the present disclosure so as not to obscure thedisclosure with details that will be readily apparent to those ofordinary skill in the art having the benefit of the description herein.Moreover, while certain embodiments or figures described herein mayillustrate features not expressly indicated on other figures orembodiments, it is understood that the features and components of theexamples disclosed herein are not necessarily exclusive of each otherand may be included in a variety of different combinations orconfigurations without departing from the scope and spirit of thedisclosure. A variety of modifications and variations are possible nlight of the above teachings without departing from the scope and spiritof the disclosure, which is limited only by the following claims.

What is claimed is:
 1. A propulsion device, comprising: a platform; athrust assembly coupled to the platform, the thrust assembly includingat least two nozzles configured to discharge a pressurized fluidtherefrom, wherein the at least two nozzles are movable with respect tothe platform; a plurality of actuators, wherein each actuator is coupledto one of the at least two nozzles, wherein each actuator is configuredto adjust an angular orientation of its respective nozzle with respectto the platform; a first sensor coupled to the platform to measure atleast one of a pitch and roll of the platform; and a controller incommunication with the first sensor and the plurality of actuators,wherein the controller is configured to adjust an operation of theactuators based at least in part on information from the first sensor tomodify an angular orientation of the at least two nozzles.
 2. Thepropulsion device according to claim 1, further comprising a remotepressurization station supplying pressurized fluid to the thrustassembly.
 3. The propulsion device according to claim 2, wherein theremote pressurization station is coupled to the assembly by a flexiblesupply conduit.
 4. The propulsion device according to claim 3, whereinthe remote pressurization station is a personal watercraft.
 5. Thepropulsion device according to claim 1, wherein the at least two nozzlesare respectively positioned at port and starboard positions of theplatform.
 6. The propulsion device according to claim 1, furthercomprising a second sensor configured to measure a pressure of apressurized fluid flowing through the thrust assembly, wherein thesecond sensor is in communication with the controller.
 7. The propulsiondevice according to claim 6, wherein the controller is configured toadjust an operation of the actuators based at least in part oninformation from the second sensor.
 8. The propulsion device accordingto claim 1, further comprising a plurality of second sensors, whereineach of the plurality of second sensors is configured to measure anangular position of one of the at least two nozzles, and wherein theplurality of second sensors is in communication with the controller. 9.The propulsion device according to claim 8, wherein the controller isconfigured to adjust an operation of the actuators based at least inpart on information from the plurality of second sensors.
 10. Thepropulsion device according to claim 1, further comprising a userinterface coupled to the platform that is configured to receive inputfrom a user comprising at least one of a change of direction input and achange of altitude input, and wherein the controller is in communicationwith the user interface.
 11. The propulsion device according to claim10, wherein the user interface includes handle bars rotatably coupled tothe platform.
 12. The propulsion device according to claim 10, whereinthe controller is configured to adjust an operation of the actuatorsbased at least in part on information from the user interface.
 13. Thepropulsion device according to claim 1, further comprising a secondsensor coupled to the platform configured to measure an altitude of theplatform, wherein the second sensor is in communication with thecontroller, and wherein the controller is configured to adjust anoperation of the actuators based at least in part on information fromthe second sensor.
 14. The propulsion device according to claim 1,wherein the controller implements a PID calculation to adjust anoperation of the actuators.
 15. The propulsion device according to claim1, wherein the at least two nozzles are movable in a plane that issubstantially parallel to a longitudinal axis of the platform extendingfrom a stern to a bow of the platform.
 16. The propulsion deviceaccording to claim 1, further comprising a stern nozzle immovablyaffixed to the platform at a rear portion of the platform.
 17. Thepropulsion device according to claim 16, wherein the stern nozzledefines an oblong cross-section along a portion thereof.
 18. Thepropulsion device according to claim 16, wherein at least two nozzlesare positioned at a bow or front portion of the platform.
 19. Thepropulsion device according to claim 18, wherein the thrust assemblyincludes a substantially rigid fluid delivery conduit extending from thestern nozzle to the at least two nozzles.